含时变轮胎侧偏刚度的车辆质心侧偏角鲁棒估计  

Robust estimation of vehicle sideslip angle includingtime-varying tire cornering stiffness

作　　者：陈建锋[1,2] 吴强 葛新元[1] 汤传业 叶贻财 CHEN Jianfeng;WU Qiang;GE Xinyuan;TANG Chuanye;YE Yicai(Automotive Engineering Research Institute,Jiangsu University,Zhenjiang 212013,China;School of Electrical and Information Engineering,Changzhou Institute of Technology,Changzhou 213032,China)

机构地区：[1]江苏大学汽车工程研究院,江苏镇江212013 [2]常州工学院电气信息工程学院,江苏常州213032

出　　处：《重庆理工大学学报（自然科学）》2023年第8期1-7,共7页Journal of Chongqing University of Technology：Natural Science

基　　金：国家自然科学基金项目(52072159);常州市科技支撑计划(社会发展)项目(CE20225072)。

摘　　要：车辆质心侧偏角是车辆主动安全控制的重要参考信息,难以直接测量。提出一种含时变轮胎侧偏刚度的车辆质心侧偏角鲁棒估计方法。利用一种车载传感器量测信号可靠性判别方法,滤除横摆率和侧向加速度中的不可靠量测值。设计一种基于侧向加速度信息的轮胎侧偏刚度计算方法,以解决非线性区域的时变轮胎侧偏刚度表征问题。利用容积卡尔曼滤波算法进行迭代,以获得鲁棒的车辆质心侧偏角。数值验证结果表明,所提出的车辆质心侧偏角估计方法在精度和鲁棒性方面具有较为明显的优势。Vehicle sideslip angle (VSA) is one kind of crucial information for some vehicle active safety control systems, such as electronic stabilization program (ESP), adaptive cruise control(ACC) and lane keeping assist(LKA). However, it is hard to directly measure the VSA on mass-produced cars for the limitation of cost. This paper proposes a robust estimation scheme for the VSA including time-varying tire cornering stiffness. Firstly, for the signal mutations existing in on-board low-cost inertial measurement unit, a credibility judgement approach is established based on the information of steering wheel angle and longitudinal velocity. By means of this approach, the unreliable output values in the measurement signals of yaw rate and lateral acceleration can be detected and replaced effectively. Secondly, for the time-varying tire cornering stiffness hard to be accurately represented in nonlinear region, a calculation method is designed based on the lateral acceleration information. Using this method, the tire cornering stiffness can be acquired to meet its dynamic characteristic well. Finally, on the premise that the measurement signals of yaw rate and lateral acceleration are reliable and the tire dynamic modeling is accurate, a cubature Kalman filter is employed to iteratively determine the robust VSA. Numerical verification results show that utilizing the proposed VSA estimation scheme can achieve obvious superior performance of accuracy and robustness as compared with the contrast one.

关 键 词：车辆质心侧偏角 时变轮胎侧偏刚度 容积卡尔曼滤波 鲁棒性 

分 类 号：U462.33[机械工程—车辆工程]